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<div class="title">supervoxel_clustering.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Author : jpapon@gmail.com</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Email  : jpapon@gmail.com</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_SUPERVOXEL_CLUSTERING_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_search.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud_adjacency.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/boost.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">//DEBUG TODO REMOVE</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html">   64</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_supervoxel.html">Supervoxel</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel.html">Supervoxel</a> () :</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <a class="code" href="classpcl_1_1_supervoxel.html#a83cc05dd28539a410a0b5a0267296baa">voxels_</a> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ()),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="classpcl_1_1_supervoxel.html#a1e3cb9e534a1c1b0b66cfccb06a79ee0">normals_</a> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;Normal&gt;</a> ())</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        {  } </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;Supervoxel&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const Supervoxel&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#a46acabfc3f8bdafe2368f74256823246">   79</a></span>&#160;      <a class="code" href="classpcl_1_1_supervoxel.html#a46acabfc3f8bdafe2368f74256823246">getCentroidPoint</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp;centroid_arg)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        centroid_arg = <a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#af512a4e522c7d6493374210c825d7ccb">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_supervoxel.html#af512a4e522c7d6493374210c825d7ccb">getCentroidPointNormal</a> (<a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a> &amp;normal_arg)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        normal_arg.x = <a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>.x;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        normal_arg.y = <a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>.y;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        normal_arg.z = <a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>.z;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        normal_arg.normal_x = <a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.normal_x;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        normal_arg.normal_y = <a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.normal_y;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        normal_arg.normal_z = <a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.normal_z;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        normal_arg.curvature = <a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>.curvature;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">  101</a></span>&#160;      <a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a> <a class="code" href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">normal_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">  103</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> <a class="code" href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">centroid_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#a83cc05dd28539a410a0b5a0267296baa">  105</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr <a class="code" href="classpcl_1_1_supervoxel.html#a83cc05dd28539a410a0b5a0267296baa">voxels_</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel.html#a1e3cb9e534a1c1b0b66cfccb06a79ee0">  107</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;Normal&gt;::Ptr <a class="code" href="classpcl_1_1_supervoxel.html#a1e3cb9e534a1c1b0b66cfccb06a79ee0">normals_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW  </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  };</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html">  123</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="comment">//Forward declaration of friended helper class</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">  132</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> ():</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            xyz_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            rgb_ (0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            normal_ (0.0f, 0.0f, 0.0f, 0.0f),</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            curvature_ (0.0f),</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            owner_ (0)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            {}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          getPoint (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          getNormal (<a class="code" href="structpcl_1_1_normal.html">Normal</a> &amp;normal_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          Eigen::Vector3f xyz_;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          Eigen::Vector3f rgb_;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          Eigen::Vector4f normal_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          <span class="keywordtype">float</span> curvature_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordtype">float</span> distance_;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordtype">int</span> idx_;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a>* owner_;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      };</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer&lt;PointT, VoxelData&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">typedef</span> std::vector &lt;LeafContainerT*&gt; LeafVectorT;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudT</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;Normal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">NormalCloudT</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch &lt;PointT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">OctreeSearchT</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTreeT</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">typedef</span> boost::adjacency_list&lt;boost::setS, boost::setS, boost::undirectedS, uint32_t, float&gt; VoxelAdjacencyList;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">typedef</span> VoxelAdjacencyList::vertex_descriptor VoxelID;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">typedef</span> VoxelAdjacencyList::edge_descriptor EdgeID;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> (<span class="keywordtype">float</span> voxel_resolution, <span class="keywordtype">float</span> seed_resolution);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;SupervoxelClustering constructor with flag for using the single camera transform is deprecated. Default behavior is now to use the transform for organized clouds, and not use it for unorganized. To force use/disuse of the transform, use the setUseSingleCameraTransform(bool) function.&quot;</span>)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> (<span class="keywordtype">float</span> voxel_resolution, <span class="keywordtype">float</span> seed_resolution, <span class="keywordtype">bool</span>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      virtual</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      ~<a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a> ();</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      setVoxelResolution (<span class="keywordtype">float</span> resolution);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      getVoxelResolution () const;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      setSeedResolution (<span class="keywordtype">float</span> seed_resolution);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      getSeedResolution () const;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      setColorImportance (<span class="keywordtype">float</span> val);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      setSpatialImportance (<span class="keywordtype">float</span> val);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      setNormalImportance (<span class="keywordtype">float</span> val);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      setUseSingleCameraTransform (<span class="keywordtype">bool</span> val);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      extract (std::map&lt;uint32_t,typename <a class="code" href="classpcl_1_1_supervoxel.html">Supervoxel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::Ptr &gt; &amp;supervoxel_clusters);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      setInputCloud (const typename pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::ConstPtr&amp; cloud);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      setNormalCloud (typename <a class="code" href="classpcl_1_1_point_cloud.html">NormalCloudT</a>::ConstPtr normal_cloud);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      refineSupervoxels (<span class="keywordtype">int</span> num_itr, std::map&lt;uint32_t,typename <a class="code" href="classpcl_1_1_supervoxel.html">Supervoxel</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::Ptr &gt; &amp;supervoxel_clusters);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      PCL_DEPRECATED (&quot;<a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a>::getColoredCloud is deprecated. Use the getLabeledCloud function instead. examples/segmentation/example_supervoxels.cpp shows how to use this to display and save with colorized labels.&quot;)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      typename pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&gt;::Ptr</div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a1ddb159d39a3da31c756a66786b232a8">  279</a></span>&#160;      getColoredCloud ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordflow">return</span> boost::shared_ptr&lt;pcl::PointCloud&lt;PointXYZRGBA&gt; &gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZRGBA&gt;</a>);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      getVoxelCentroidCloud () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointXYZL&gt;::Ptr</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      getLabeledCloud () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;SupervoxelClustering::getColoredVoxelCloud is deprecated. Use the getLabeledVoxelCloud function instead. examples/segmentation/example_supervoxels.cpp shows how to use this to display and save with colorized labels.&quot;</span>)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&gt;::Ptr</div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a47bf1608e4ff872353503bce404db736">  304</a></span>&#160;      getColoredVoxelCloud ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">return</span> boost::shared_ptr&lt;pcl::PointCloud&lt;PointXYZRGBA&gt; &gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZRGBA&gt;</a>);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      getLabeledVoxelCloud () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      getSupervoxelAdjacencyList (VoxelAdjacencyList &amp;adjacency_list_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      getSupervoxelAdjacency (std::multimap&lt;uint32_t, uint32_t&gt; &amp;label_adjacency) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">static</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      makeSupervoxelNormalCloud (std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      getMaxLabel () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      prepareForSegmentation ();</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      selectInitialSupervoxelSeeds (std::vector&lt;int&gt; &amp;seed_indices);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      createSupervoxelHelpers (std::vector&lt;int&gt; &amp;seed_indices);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      expandSupervoxels (<span class="keywordtype">int</span> depth);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      computeVoxelData ();</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      reseedSupervoxels ();</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      makeSupervoxels (std::map&lt;uint32_t,<span class="keyword">typename</span> Supervoxel&lt;PointT&gt;::Ptr &gt; &amp;supervoxel_clusters);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">  376</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">resolution_</a>;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a6bd458afc79e5b4569d07b582799c371">  379</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a6bd458afc79e5b4569d07b582799c371">seed_resolution_</a>;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      voxelDataDistance (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v1, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      transformFunction (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#ad25cfde9a6e64d1a7070105122b78de5">  390</a></span>&#160;      <span class="keyword">typename</span> pcl::search::KdTree&lt;PointT&gt;::Ptr <a class="code" href="classpcl_1_1_supervoxel_clustering.html#ad25cfde9a6e64d1a7070105122b78de5">voxel_kdtree_</a>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">  393</a></span>&#160;      <span class="keyword">typename</span> OctreeAdjacencyT::Ptr <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">adjacency_octree_</a>;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a0ee5444ed0de3dc26427efd499740aad">  396</a></span>&#160;      <span class="keyword">typename</span> PointCloudT::Ptr <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a0ee5444ed0de3dc26427efd499740aad">voxel_centroid_cloud_</a>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a680d5c934537a7ff7a6b2cc22eccd42c">  399</a></span>&#160;      <span class="keyword">typename</span> NormalCloudT::ConstPtr <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a680d5c934537a7ff7a6b2cc22eccd42c">input_normals_</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a1387b181f0efb00ff6399d4b23cee7af">  402</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a1387b181f0efb00ff6399d4b23cee7af">color_importance_</a>;</div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a740b88b089795ea53b42c49121653987">  404</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a740b88b089795ea53b42c49121653987">spatial_importance_</a>;</div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a218bc6a57f29fb03195693f1b3e10d12">  406</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a218bc6a57f29fb03195693f1b3e10d12">normal_importance_</a>;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      </div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#a0349bfb9c9db7b0ea7b6dc951ecb6078">  412</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#a0349bfb9c9db7b0ea7b6dc951ecb6078">use_single_camera_transform_</a>;</div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering.html#aad0314b20af5f818269b74eb16185c96">  414</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_supervoxel_clustering.html#aad0314b20af5f818269b74eb16185c96">use_default_transform_behaviour_</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      </div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">  420</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="structpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_1_1compare_leaves.html">  426</a></span>&#160;          <span class="keyword">struct </span><a class="code" href="structpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_1_1compare_leaves.html">compareLeaves</a></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;          {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;            <span class="keywordtype">bool</span> operator() (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* <span class="keyword">const</span> &amp;left, <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* <span class="keyword">const</span> &amp;right)<span class="keyword"> const</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;              <span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; leaf_data_left = left-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">getData</a> ();</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;              <span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a>&amp; leaf_data_right = right-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">getData</a> ();</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;              <span class="keywordflow">return</span> leaf_data_left.idx_ &lt; leaf_data_right.idx_;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          };</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;          <span class="keyword">typedef</span> std::set&lt;LeafContainerT*, typename SupervoxelHelper::compareLeaves&gt; LeafSetT;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> LeafSetT::iterator iterator;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> LeafSetT::const_iterator const_iterator;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">SupervoxelHelper</a> (uint32_t label, <a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a>* parent_arg):</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            label_ (label),</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            parent_ (parent_arg)</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;          { }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          addLeaf (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* leaf_arg);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          removeLeaf (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">LeafContainerT</a>* leaf_arg);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          removeAllLeaves ();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          expand ();</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;          refineNormals ();</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          updateCentroid ();</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          getVoxels (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr &amp;voxels) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          getNormals (<span class="keyword">typename</span> pcl::PointCloud&lt;Normal&gt;::Ptr &amp;normals) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          <span class="keyword">typedef</span> float (<a class="code" href="classpcl_1_1_supervoxel_clustering.html">SupervoxelClustering</a>::*DistFuncPtr)(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v1, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">VoxelData</a> &amp;v2);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          uint32_t</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          getLabel ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> label_; }</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          Eigen::Vector4f </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          getNormal ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> centroid_.normal_; }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;          Eigen::Vector3f </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          getRGB ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> centroid_.rgb_; }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          Eigen::Vector3f</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;          getXYZ ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> centroid_.xyz_;}</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          getXYZ (<span class="keywordtype">float</span> &amp;x, <span class="keywordtype">float</span> &amp;y, <span class="keywordtype">float</span> &amp;z)<span class="keyword"> const</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="keyword">          </span>{ x=centroid_.xyz_[0]; y=centroid_.xyz_[1]; z=centroid_.xyz_[2]; }</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;          getRGB (uint32_t &amp;rgba)<span class="keyword"> const</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="keyword">          </span>{ </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            rgba = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(centroid_.rgb_[0]) &lt;&lt; 16 | </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                   <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(centroid_.rgb_[1]) &lt;&lt; 8 | </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                   <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(centroid_.rgb_[2]); </div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;          }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;          getNormal (<a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a> &amp;normal_arg)<span class="keyword"> const </span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="keyword">          </span>{ </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            normal_arg.normal_x = centroid_.normal_[0];</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            normal_arg.normal_y = centroid_.normal_[1];</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;            normal_arg.normal_z = centroid_.normal_[2];</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            normal_arg.curvature = centroid_.curvature_;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;          getNeighborLabels (std::set&lt;uint32_t&gt; &amp;neighbor_labels) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;          VoxelData</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;          getCentroid ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> centroid_; }</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;          <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;          size ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> leaves_.size (); }</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;          <span class="comment">//Stores leaves</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;          LeafSetT leaves_;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;          uint32_t label_;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;          VoxelData centroid_;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          SupervoxelClustering* parent_;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          <span class="comment">//Type VoxelData may have fixed-size Eigen objects inside</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;          EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      };</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      <span class="comment">//Make boost::ptr_list can access the private class SupervoxelHelper</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <span class="keyword">friend</span> <span class="keywordtype">void</span> boost::checked_delete&lt;&gt; (<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">pcl::SupervoxelClustering&lt;PointT&gt;::SupervoxelHelper</a> *);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      <span class="keyword">typedef</span> boost::ptr_list&lt;SupervoxelHelper&gt; HelperListT;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      HelperListT supervoxel_helpers_;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;      <span class="comment">//TODO DEBUG REMOVE</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      StopWatch timer_;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  };</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;}</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/supervoxel_clustering.hpp&gt;</span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper.html">pcl::SupervoxelClustering::SupervoxelHelper</a></div><div class="ttdoc">Internal storage class for supervoxels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_1_1_voxel_data_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering_1_1_voxel_data.html">pcl::SupervoxelClustering::VoxelData</a></div><div class="ttdoc">VoxelData is a structure used for storing data within a pcl::octree::OctreePointCloudAdjacencyContain...</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering</a></div><div class="ttdoc">Implements a supervoxel algorithm based on voxel structure, normals, and rgb values</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a01d37b323655ee29d2ed084e976901a1"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a01d37b323655ee29d2ed084e976901a1">pcl::SupervoxelClustering::adjacency_octree_</a></div><div class="ttdeci">OctreeAdjacencyT::Ptr adjacency_octree_</div><div class="ttdoc">Octree Adjacency structure with leaves at voxel resolution</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a0349bfb9c9db7b0ea7b6dc951ecb6078"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a0349bfb9c9db7b0ea7b6dc951ecb6078">pcl::SupervoxelClustering::use_single_camera_transform_</a></div><div class="ttdeci">bool use_single_camera_transform_</div><div class="ttdoc">Whether or not to use the transform compressing depth in Z This is only checked if it has been manual...</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:412</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a0ee5444ed0de3dc26427efd499740aad"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a0ee5444ed0de3dc26427efd499740aad">pcl::SupervoxelClustering::voxel_centroid_cloud_</a></div><div class="ttdeci">PointCloudT::Ptr voxel_centroid_cloud_</div><div class="ttdoc">Contains the Voxelized centroid Cloud</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:396</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a1387b181f0efb00ff6399d4b23cee7af"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a1387b181f0efb00ff6399d4b23cee7af">pcl::SupervoxelClustering::color_importance_</a></div><div class="ttdeci">float color_importance_</div><div class="ttdoc">Importance of color in clustering</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:402</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a218bc6a57f29fb03195693f1b3e10d12"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a218bc6a57f29fb03195693f1b3e10d12">pcl::SupervoxelClustering::normal_importance_</a></div><div class="ttdeci">float normal_importance_</div><div class="ttdoc">Importance of similarity in normals for clustering</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a680d5c934537a7ff7a6b2cc22eccd42c"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a680d5c934537a7ff7a6b2cc22eccd42c">pcl::SupervoxelClustering::input_normals_</a></div><div class="ttdeci">NormalCloudT::ConstPtr input_normals_</div><div class="ttdoc">Contains the Voxelized centroid Cloud</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a6bd458afc79e5b4569d07b582799c371"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a6bd458afc79e5b4569d07b582799c371">pcl::SupervoxelClustering::seed_resolution_</a></div><div class="ttdeci">float seed_resolution_</div><div class="ttdoc">Stores the resolution used to seed the superpixels</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:379</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_a740b88b089795ea53b42c49121653987"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#a740b88b089795ea53b42c49121653987">pcl::SupervoxelClustering::spatial_importance_</a></div><div class="ttdeci">float spatial_importance_</div><div class="ttdoc">Importance of distance from seed center in clustering</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:404</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aa6068bcabad2d3b1e6870b489354006c"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aa6068bcabad2d3b1e6870b489354006c">pcl::SupervoxelClustering::resolution_</a></div><div class="ttdeci">float resolution_</div><div class="ttdoc">Stores the resolution used in the octree</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_aad0314b20af5f818269b74eb16185c96"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#aad0314b20af5f818269b74eb16185c96">pcl::SupervoxelClustering::use_default_transform_behaviour_</a></div><div class="ttdeci">bool use_default_transform_behaviour_</div><div class="ttdoc">Whether to use default transform behavior or not</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:414</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html_ad25cfde9a6e64d1a7070105122b78de5"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html#ad25cfde9a6e64d1a7070105122b78de5">pcl::SupervoxelClustering::voxel_kdtree_</a></div><div class="ttdeci">pcl::search::KdTree&lt; PointT &gt;::Ptr voxel_kdtree_</div><div class="ttdoc">Contains a KDtree for the voxelized cloud</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:390</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html"><div class="ttname"><a href="classpcl_1_1_supervoxel.html">pcl::Supervoxel</a></div><div class="ttdoc">Supervoxel container class - stores a cluster extracted using supervoxel clustering</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_a030f374dc5b401d58592add3e9c330e1"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#a030f374dc5b401d58592add3e9c330e1">pcl::Supervoxel::centroid_</a></div><div class="ttdeci">pcl::PointXYZRGBA centroid_</div><div class="ttdoc">The centroid of the supervoxel - average voxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_a1e3cb9e534a1c1b0b66cfccb06a79ee0"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#a1e3cb9e534a1c1b0b66cfccb06a79ee0">pcl::Supervoxel::normals_</a></div><div class="ttdeci">pcl::PointCloud&lt; Normal &gt;::Ptr normals_</div><div class="ttdoc">A Pointcloud of the normals for the points in the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_a46acabfc3f8bdafe2368f74256823246"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#a46acabfc3f8bdafe2368f74256823246">pcl::Supervoxel::getCentroidPoint</a></div><div class="ttdeci">void getCentroidPoint(PointXYZRGBA &amp;centroid_arg)</div><div class="ttdoc">Gets the centroid of the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_a83cc05dd28539a410a0b5a0267296baa"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#a83cc05dd28539a410a0b5a0267296baa">pcl::Supervoxel::voxels_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::Ptr voxels_</div><div class="ttdoc">A Pointcloud of the voxels in the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_ac5769d51f73778b13c485deb6f326950"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#ac5769d51f73778b13c485deb6f326950">pcl::Supervoxel::normal_</a></div><div class="ttdeci">pcl::Normal normal_</div><div class="ttdoc">The normal calculated for the voxels contained in the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_html_af512a4e522c7d6493374210c825d7ccb"><div class="ttname"><a href="classpcl_1_1_supervoxel.html#af512a4e522c7d6493374210c825d7ccb">pcl::Supervoxel::getCentroidPointNormal</a></div><div class="ttdeci">void getCentroidPointNormal(PointNormal &amp;normal_arg)</div><div class="ttdoc">Gets the point normal for the supervoxel</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_container_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">pcl::octree::OctreePointCloudAdjacencyContainer</a></div><div class="ttdoc">Octree adjacency leaf container class- stores a list of pointers to neighbors, number of points added...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency_container.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_container_html_a0a7dc3ff4dab95c9aa899696c961c934"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html#a0a7dc3ff4dab95c9aa899696c961c934">pcl::octree::OctreePointCloudAdjacencyContainer::getData</a></div><div class="ttdeci">DataT &amp; getData()</div><div class="ttdoc">Returns a reference to the data member to access it without copying</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency_container.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a></div><div class="ttdoc">Octree pointcloud voxel class which maintains adjacency information for its voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_normal_html"><div class="ttname"><a href="structpcl_1_1_point_normal.html">pcl::PointNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:859</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_1_1compare_leaves_html"><div class="ttname"><a href="structpcl_1_1_supervoxel_clustering_1_1_supervoxel_helper_1_1compare_leaves.html">pcl::SupervoxelClustering::SupervoxelHelper::compareLeaves</a></div><div class="ttdoc">Comparator for LeafContainerT pointers - used for sorting set of leaves</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:427</div></div>
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